function xstCOMFn = stCOMFn(x)
xstCOMFn = ((47773*cos(x(1) + x(2)))/101663750 + (47773*cos(x(1) + x(2) + x(3) - x(4)))/ ...
   101663750 + (183515043716839333*sin(x(1)))/1983624837997425000 +  ...
  (115136616550093*sin(x(1) + x(2)))/1383847530657105 +  ...
  (3951410064115*sin(x(1) + x(2) + x(3)))/51196358005887 -  ...
  (9299254606247*sin(x(1) + x(2) + x(3) - x(4)))/553539012262842 -  ...
  (40565144278032223*sin(x(1) + x(2) + x(3) - x(4) - x(5)))/ ...
   3967249675994850000)/((-183515043716839333*cos(x(1)))/ ...
   1983624837997425000 - (115136616550093*cos(x(1) + x(2)))/ ...
   1383847530657105 - (3951410064115*cos(x(1) + x(2) + x(3)))/ ...
   51196358005887 + (9299254606247*cos(x(1) + x(2) + x(3) - x(4)))/ ...
   553539012262842 + (40565144278032223* ...
    cos(x(1) + x(2) + x(3) - x(4) - x(5)))/3967249675994850000 +  ...
  (47773*sin(x(1) + x(2)))/101663750 + (47773*sin(x(1) + x(2) + x(3) - x(4)))/ ...
   101663750) ...
;